研究了线性扩张状态观测器(Extended state observer,ESO)的估计能力,并且分析了在线性自抗扰控制(Linearactive disturbance rejection control,LADRC)下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的...研究了线性扩张状态观测器(Extended state observer,ESO)的估计能力,并且分析了在线性自抗扰控制(Linearactive disturbance rejection control,LADRC)下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的证明,并通过分析得出了如下结论:在扩张状态观测器跟踪误差趋于零的前提下,在线性自抗扰控制下的闭环系统可以实现对设定信号的精确跟踪以及输入-输出有界(Bounded input and bounded output,BIBO)稳定.展开更多
A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operationpoints is described as a MIMO time-varying uncertain nonlinear system with unknown constant param-eters,bounded disturbance and ...A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operationpoints is described as a MIMO time-varying uncertain nonlinear system with unknown constant param-eters,bounded disturbance and nonlinear uncertainty,and a robust output feedback control methodbased on signal compensation is proposed.A controller designed by this method consists of a nominalcontroller and a robust compensator.The controller is linear time-invariant and can be realized easily.Robust attitude tracking property of closed-loop system is proven and experimental results show thatthe designed control system can guarantee high precision robust attitude control under multi-operationpoints.展开更多
文摘研究了线性扩张状态观测器(Extended state observer,ESO)的估计能力,并且分析了在线性自抗扰控制(Linearactive disturbance rejection control,LADRC)下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的证明,并通过分析得出了如下结论:在扩张状态观测器跟踪误差趋于零的前提下,在线性自抗扰控制下的闭环系统可以实现对设定信号的精确跟踪以及输入-输出有界(Bounded input and bounded output,BIBO)稳定.
基金supported by the National Natural Science Foundation of China under Grant Nos. 60674017 and 60736024
文摘A 3DOF (three degrees of freedom) helicopter attitude control system with multi-operationpoints is described as a MIMO time-varying uncertain nonlinear system with unknown constant param-eters,bounded disturbance and nonlinear uncertainty,and a robust output feedback control methodbased on signal compensation is proposed.A controller designed by this method consists of a nominalcontroller and a robust compensator.The controller is linear time-invariant and can be realized easily.Robust attitude tracking property of closed-loop system is proven and experimental results show thatthe designed control system can guarantee high precision robust attitude control under multi-operationpoints.
